DEFORM/src/plan_manager/config/frm_shape.yaml at main · NeSC-IV/DEFORM · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30

task_type: 1  #  1 means formation navigation, 2 means formation change,
vehicle_number: 12 # It must be the same as plan_manager/tb_num
initial_shape_positions:
  vehicle_pos_1: {x: 0.0, y: 0.0}
  vehicle_pos_2: {x: 0.0, y: -1.0}
  vehicle_pos_3: {x: 0.0, y: -2.0}
  vehicle_pos_4: {x: 0.0, y: -3.0}
  vehicle_pos_5: {x: -1.0, y: -1.0}
  vehicle_pos_6: {x: -1.0, y: -2.0}
  vehicle_pos_7: {x: -1.0, y: -3.0}
  vehicle_pos_8: {x: -1.0, y: -4.0}
  vehicle_pos_9: {x: -2.0, y: -2.0}
  vehicle_pos_10: {x: -2.0, y: -3.0}
  vehicle_pos_11: {x: -2.0, y: -4.0}
  vehicle_pos_12: {x: -2.0, y: -5.0}

desired_shape_positions:
  vehicle_pos_1: {x: 0.0, y: 0.0}
  vehicle_pos_2: {x: -1.0, y: 1.0}
  vehicle_pos_3: {x: -2.0, y: 2.0}
  vehicle_pos_4: {x: -3.0, y: 2.0}
  vehicle_pos_5: {x: -4.0, y: 1.0}
  vehicle_pos_6: {x: -5.0, y: 0.0}
  vehicle_pos_7: {x: -5.0, y: -1.0}
  vehicle_pos_8: {x: -4.0, y: -2.0}
  vehicle_pos_9: {x: -3.0, y: -3.0}
  vehicle_pos_10: {x: -2.0, y: -3.0}
  vehicle_pos_11: {x: -1.0, y: -2.0}
  vehicle_pos_12: {x: 0.0, y: -1.0}